Partial Contact Force Controllability in Active Wheeled Vehicles

[+] Author and Article Information
B. J. Choi, S. V. Sreenivasan

Department of Mechanical Engineering The University of Texas at Austin Austin, TX 78712

J. Mech. Des 123(2), 169-175 (Feb 01, 1998) (7 pages) doi:10.1115/1.1357872 History: Received February 01, 1998
Copyright © 2001 by ASME
Topics: Force , Vehicles , Screws
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Grahic Jump Location
A fully-parallel kinematic chain vehicle model
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(a) Active three wheeled vehicle, and (b) Active six legged vehicle with three legs in contact with surface (each leg is equally spaced on the vehicle body by 60 deg)
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Contact angle λi and four reciprocal wrench systems (axis x is on the wheel plane and parallel to the x axis)
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Leg ‘i’ of the example ALV




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